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Tested on http://vision.maths.lth.se/calledataset/de_guerre/de_guerre.zip
SIFT:
| Metric | HEAD -- non-upright | HEAD -- upright, model 1/2 ❌ | this PR -- upright, single model ✅ |
|---|---|---|---|
| Registered Images | 35 | 26 | 35 |
| Points | 44,836 | 26,845 | 38,328 |
| Observations | 236,754 | 154,588 | 225,184 |
| Mean Track Length | 5.280444 | 5.758540 | 5.875183 |
| Obs per Image | 6764.400000 | 5945.692308 | 6433.828571 |
| Reprojection Error | 0.558117px | 0.376756px | 0.391964px |
ALIKED:
| Metric | HEAD -- model 1/2 ❌ | HEAD -- model 2/2 ❌ | this PR -- single model ✅ |
|---|---|---|---|
| Registered Images | 26 | 9 | 35 |
| Points | 5,468 | 3,536 | 6,816 |
| Observations | 41,332 | 14,256 | 60,786 |
| Mean Track Length | 7.558888 | 4.031674 | 8.918134 |
| Obs per Image | 1589.692308 | 1584.000000 | 1736.742857 |
| Reprojection Error | 0.595125px | 0.271122px | 0.545645px |
LightGlue does seem to struggle with the rotation. In a follow-up PR, we can rotate its keypoints too.
| Metric | rotated ALIKED (brute force) | rotated ALIKED (LightGlue) |
|---|---|---|
| Images / Frames | 35 | 35 |
| Registered Images | 35 | 35 |
| Points | 6,816 | 8,992 |
| Observations | 60,786 | 63,135 |
| Mean Track Length | 8.918134 | 7.021241 |
| Obs per Image | 1736.742857 | 1803.857143 |
| Mean Reprojection Error | 0.545645px | 0.659852px |
| case 8: // Rotate 270 CW | ||
| return Eigen::Vector3d(-1, 0, 0); | ||
| default: | ||
| LOG(FATAL) << "Unknown EXIF orientation: " << orientation; |
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